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SLRT Scopes

This example shows the use of an SLRT Scope in a Task Program. SLRT Scopes allow the operator to view signals during Task Program execution on the Robot Computer. This feature can be useful when debugging a Task Program.

There are four ways to see the Robot Computer screen depending on your Kinarm Lab set-up.

  • A second monitor dedicated to the Robot Computer.
    • Post-installation, many labs attach their own monitor to the Robot Computer. Attaching a dedicated monitor is an excellent option for labs where there is space for the monitor and there is regular Custom Task development.
  • Start OBS video capture software on your Dexterit-E Computer.
    • Kinarm Labs configured with a video capture device can use the OBS software to view the Robot Computer monitor. If your Dexterit-E Computer does not come with OBS installed then you do not have a video capture device.
  • Double tap <Scroll Lock>
    • If the Robot Computer and Dexterit-E computer share a keyboard, video and mouse, use a KVM switch to switch the monitor to view the Robot Computer. If double tapping the <Scroll Lock> key does not show the Robot Computer screen on the operator monitor then your Kinarm Lab does not have a KVM switch.
  • Change the Operator monitor input to #2
    • If the above options do not exist on your Kinarm Lab then you can use input #2 on your Operator display to see the Robot Computer screen.

Attention: The SLRT Scope block should not be confused with the standard Simulink Scope block.

Figure 10.12: SLRT Scopes example.

10.6.1   Simulink Code for SLRT Scopes Example

To use an SLRT Scope, the block can be dragged from the Simulink Library Browser; the block is found at Simulink Real-Time > Displays and Logging > Scope. It is also possible to just search for ‘scope’ in the search box.

  • Once it has been dragged into the Task Program, a signal can be connected to the SLRT Scope.
  • To view multiple signals on the same scope, the signals must be muxed together first. Up to 10 signals can be seen on a single scope.
  • To view different signals on different scopes, drag multiple copies of the SLRT Scope block into the Task Program. Up to 9 SLRT Scopes can be in a single model.
  • Double-clicking on the SLRT Scope will bring up a dialog (not shown) with numerous options, such as whether to show numerical or graphical data, number of samples to show, triggering options etc.

Figure 10.13: Simulink Code for SLRT Scopes Example

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